Last change
on this file since 17 was
15,
checked in by wcaarls, 12 years ago
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Imported webmap at revision 1169
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File size:
1.1 KB
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Rev | Line | |
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[15] | 1 | define block model |
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| 2 | ( |
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| 3 | size [0.5 0.5 0.5] |
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| 4 | gui_nose 0 |
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| 5 | ) |
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| 6 | |
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| 7 | define topurg ranger |
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| 8 | ( |
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| 9 | sensor( |
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| 10 | range [ 0.0 30.0 ] |
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| 11 | fov 270.25 |
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| 12 | samples 1081 |
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| 13 | ) |
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| 14 | |
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| 15 | # generic model properties |
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| 16 | color "black" |
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| 17 | size [ 0.05 0.05 0.1 ] |
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| 18 | ) |
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| 19 | |
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| 20 | define erratic position |
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| 21 | ( |
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| 22 | size [0.35 0.35 0.25] |
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| 23 | origin [-0.05 0 0 0] |
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| 24 | gui_nose 1 |
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| 25 | drive "diff" |
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| 26 | localization_origin [ 0 0 0 0 ] |
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| 27 | topurg(pose [ 0.050 0.000 0 0.000 ]) |
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| 28 | ) |
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| 29 | |
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| 30 | define floorplan model |
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| 31 | ( |
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| 32 | # sombre, sensible, artistic |
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| 33 | color "gray30" |
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| 34 | |
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| 35 | # most maps will need a bounding box |
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| 36 | boundary 1 |
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| 37 | |
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| 38 | gui_nose 0 |
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| 39 | gui_grid 0 |
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| 40 | |
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| 41 | gui_outline 0 |
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| 42 | gripper_return 0 |
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| 43 | fiducial_return 0 |
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| 44 | laser_return 1 |
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| 45 | ) |
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| 46 | |
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| 47 | # set the resolution of the underlying raytrace model in meters |
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| 48 | resolution 0.02 |
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| 49 | |
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| 50 | interval_sim 100 # simulation timestep in milliseconds |
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| 51 | |
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| 52 | |
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| 53 | window |
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| 54 | ( |
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| 55 | size [ 745.000 448.000 ] |
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| 56 | |
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| 57 | rotate [ 0.000 0 ] |
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| 58 | scale 28.806 |
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| 59 | ) |
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| 60 | |
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| 61 | # load an environment bitmap |
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| 62 | floorplan |
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| 63 | ( |
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| 64 | name "willow" |
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| 65 | bitmap "background.pgm" |
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| 66 | size [54.0 58.7 0.5] |
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| 67 | pose [ 0 0 0 90.000 ] |
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| 68 | ) |
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| 69 | |
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| 70 | # throw in a robot |
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| 71 | erratic( pose [ 0 0 0 0.000 ] name "era" color "blue") |
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| 72 | erratic( pose [ 10 10 0 0.000 ] name "two" color "red") |
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